[openrtm-commit:01801] r791 - trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC
openrtm ＠ openrtm.org
openrtm ＠ openrtm.org
2016年 3月 5日 (土) 13:12:44 JST
Author: win-ei
Date: 2016-03-05 13:12:44 +0900 (Sat, 05 Mar 2016)
New Revision: 791
Modified:
trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/Manager.java
trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/NamingBase.java
trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/NamingManager.java
Log:
Topic-based connection has been implemente. refs #3391
Modified: trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/Manager.java
===================================================================
--- trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/Manager.java 2016-03-02 17:15:35 UTC (rev 790)
+++ trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/Manager.java 2016-03-05 04:12:44 UTC (rev 791)
@@ -9,6 +9,7 @@
import java.util.ArrayList;
import java.util.Arrays;
+import java.util.Iterator;
import java.util.Vector;
import java.util.logging.FileHandler;
import java.util.logging.ConsoleHandler;
@@ -25,6 +26,7 @@
import jp.go.aist.rtm.RTC.port.PortBase;
import jp.go.aist.rtm.RTC.util.CallbackFunction;
import jp.go.aist.rtm.RTC.util.CORBA_SeqUtil;
+import jp.go.aist.rtm.RTC.util.CORBA_RTCUtil;
import jp.go.aist.rtm.RTC.util.IiopAddressComp;
import jp.go.aist.rtm.RTC.util.NVUtil;
import jp.go.aist.rtm.RTC.util.ORBUtil;
@@ -37,9 +39,12 @@
import org.omg.CORBA.ORB;
import org.omg.CORBA.Object;
import org.omg.CORBA.SystemException;
+import org.omg.CosNaming.BindingListHolder;
+import org.omg.CosNaming.BindingType;
import org.omg.PortableServer.POA;
import org.omg.PortableServer.POAHelper;
import org.omg.PortableServer.POAManager;
+
import RTC.ExecutionContext;
import RTC.ExecutionContextListHolder;
import RTC.ReturnCode_t;
@@ -47,6 +52,7 @@
import RTC.ConnectorProfileHolder;
import RTC.PortProfile;
import RTC.PortService;
+import RTC.PortServiceHelper;
import RTC.PortServiceHolder;
import RTC.PortServiceListHolder;
@@ -513,19 +519,19 @@
name += prop.getProperty("publish_topic") + ".topic_cxt";
nsports = getPortsOnNameServers(name, "inport");
- //connectDataPorts(ports[ic], nsports);
+ connectDataPorts(ports[ic], nsports);
}
else if(prop.getProperty("port.port_type").equals("DataInPort")){
name = "dataports.port_cxt/";
name += prop.getProperty("publish_topic") + ".topic_cxt";
nsports = getPortsOnNameServers(name, "outport");
- //connectDataPorts(ports[ic], nsports);
+ connectDataPorts(ports[ic], nsports);
}
else if(prop.getProperty("port.port_type").equals("CorbaPort")){
name = "svcports.port_cxt/";
name += prop.getProperty("publish_topic") + ".topic_cxt";
nsports = getPortsOnNameServers(name, "svc");
- //connectServicePorts(ports[ic], nsports);
+ connectServicePorts(ports[ic], nsports);
}
/*
if prop.getProperty("port.port_type") == "DataOutPort"{
@@ -572,9 +578,54 @@
* PortServiceList_var getPortsOnNameServers(std::string nsname,std::string kind)
*/
public PortService[] getPortsOnNameServers(String nsname, String kind){
+ ArrayList<PortService> ports = new ArrayList<PortService>();
+ //PortService[] ports = new ;
+ Vector<NamingService> ns = m_namingManager.getNameServices();
+ Iterator<NamingService> it = ns.iterator();
+ while (it.hasNext()) {
+ //NamingOnCorba noc = it.next().ns;
+ NamingBase noc = it.next().ns;
+ if(noc == null){
+ continue;
+ }
+ CorbaNaming cns = noc.getCorbaNaming();
+ if(cns == null){
+ continue;
+ }
+ BindingListHolder bl = new BindingListHolder();
+ cns.listByKind(nsname,kind,bl);
+ for(int ic=0;ic<bl.value.length;++ic){
+ if(bl.value[ic].binding_type != BindingType.nobject){
+ continue;
+ }
+ String tmp = bl.value[ic].binding_name[0].id + "."
+ + bl.value[ic].binding_name[0].kind;
+ String nspath = "/" + nsname + "/" + tmp;
+ nspath.replace("\\","");
+
+ Object obj;
+ try {
+ obj = cns.resolve(nspath);
+ }
+ catch (Exception e) {
+ continue;
+ }
+ PortService portsvc = PortServiceHelper.narrow(obj);
+ if(portsvc == null){
+ continue;
+ }
+ try{
+ PortProfile prof = portsvc.get_port_profile();
+ }
+ catch(Exception ex){
+ continue;
+ }
+ ports.add(portsvc);
+ }
+ }
+ PortService[] ret = (PortService[])ports.toArray(new PortService[0]);
+ return ret;
/*
- PortService[] ports;
- NameService[] ns = m_namingManager.getNameServices();
for n in ns{
noc = n.ns;
if noc is None{
@@ -584,7 +635,7 @@
if cns is None{
continue
}
- bl = cns.listByKind(nsname,kind)
+ bl = cns.listByKind(nsname,kind,bl);
for b in bl{
if b.binding_type != CosNaming.nobject{
@@ -612,11 +663,114 @@
}
return ports
*/
- return null;
}
/**
*
+ * {@ja 指定したデータポートを指定したリスト内のデータポート全てと接続する}
+ * {@.en Connects all specified ports.}
+ *
+ * @param port
+ * {@.ja 対象のデータポート}
+ * {@.en Target DataPort}
+ *
+ * @param target_ports
+ * {@.ja 接続対象のデータポートのリスト}
+ * {@.en List of connected DataPorts}
+ *
+ # void connectDataPorts(PortService_ptr port,PortServiceList_var& target_ports)
+ */
+ public void connectDataPorts(PortService port,PortService[] target_ports){
+ for(int ic=0;ic<target_ports.length;++ic){
+ if(port._is_equivalent(target_ports[ic])){
+ continue;
+ }
+ String con_name = "";
+ PortProfile prof0 = port.get_port_profile();
+ PortProfile prof1 = target_ports[ic].get_port_profile();
+ con_name += prof0.name;
+ con_name += ":";
+ con_name += prof1.name;
+ Properties prop = new Properties();
+ ReturnCode_t ret = CORBA_RTCUtil.connect(
+ con_name,prop,port,target_ports[ic]);
+ if(ret != ReturnCode_t.RTC_OK){
+ rtcout.println(Logbuf.ERROR,
+ "Connection error in topic connection.");
+ }
+ }
+ }
+/*
+ for p in target_ports:
+ if port._is_equivalent(p):
+ continue
+ con_name = ""
+ p0 = port.get_port_profile()
+ p1 = p.get_port_profile()
+ con_name += p0.name
+ con_name += ":"
+ con_name += p1.name
+ prop = OpenRTM_aist.Properties()
+ if RTC.RTC_OK != OpenRTM_aist.CORBA_RTCUtil.connect(con_name,prop,port,p):
+ self._rtcout.RTC_ERROR("Connection error in topic connection.")
+ }
+*/
+
+ /**
+ *
+ * {@ja 指定したサービスポートを指定したリスト内のサービスポート全てと
+ * 接続する}
+ * {@.en Connects all specified serviceports.}
+ *
+ *
+ * @param port
+ * {@.ja 対象のサービスポート}
+ * {@.en Target ServicePort}
+ *
+ * @param target_ports
+ * {@.ja 接続対象のサービスポートのリスト}
+ * {@.en List of connected ServicePorts}
+ # void connectServicePorts(PortService_ptr port,PortServiceList_var& target_ports)
+ */
+ public void connectServicePorts(PortService port,
+ PortService[] target_ports){
+ for(int ic=0;ic<target_ports.length;++ic){
+ if(port._is_equivalent(target_ports[ic])){
+ continue;
+ }
+
+ String con_name = "";
+ PortProfile prof0 = port.get_port_profile();
+ PortProfile prof1 = target_ports[ic].get_port_profile();
+ con_name += prof0.name;
+ con_name += ":";
+ con_name += prof1.name;
+ Properties prop = new Properties();
+ ReturnCode_t ret = CORBA_RTCUtil.connect(
+ con_name,prop,port,target_ports[ic]);
+ if(ret != ReturnCode_t.RTC_OK){
+ rtcout.println(Logbuf.ERROR,
+ "Connection error in topic connection.");
+ }
+ }
+ }
+/*
+ for p in target_ports:
+ if port._is_equivalent(p):
+ continue
+ con_name = ""
+ p0 = port.get_port_profile()
+ p1 = p.get_port_profile()
+ con_name += p0.name
+ con_name += ":"
+ con_name += p1.name
+ prop = OpenRTM_aist.Properties()
+ if RTC.RTC_OK != OpenRTM_aist.CORBA_RTCUtil.connect(con_name,prop,port,p):
+ self._rtcout.RTC_ERROR("Connection error in topic connection.")
+
+*/
+ /**
+ *
* {@ja NamingManagerを取得する}
* {@.en Gets NamingManager Managfer has.}
*
@@ -1829,7 +1983,7 @@
}
m_listeners.naming_.postBind(comp,names);
- //publishPorts(comp);
+ publishPorts(comp);
subscribePorts(comp);
return true;
Modified: trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/NamingBase.java
===================================================================
--- trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/NamingBase.java 2016-03-02 17:15:35 UTC (rev 790)
+++ trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/NamingBase.java 2016-03-05 04:12:44 UTC (rev 791)
@@ -111,4 +111,8 @@
* {@.en The target objects to be bound to the object}
*/
public void bindPortObject(final String name, final PortBase port);
+
+ /**
+ */
+ public CorbaNaming getCorbaNaming();
}
Modified: trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/NamingManager.java
===================================================================
--- trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/NamingManager.java 2016-03-02 17:15:35 UTC (rev 790)
+++ trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/NamingManager.java 2016-03-05 04:12:44 UTC (rev 791)
@@ -1,6 +1,7 @@
package jp.go.aist.rtm.RTC;
import java.util.Vector;
+import java.util.ArrayList;
import jp.go.aist.rtm.RTC.log.Logbuf;
import jp.go.aist.rtm.RTC.port.PortBase;
More information about the openrtm-commit
mailing list